細かいところの調整

hanzo4_1.ino

@@ -31,15 +31,15 @@ struct target_t{
 /**************************************/
 /* 動作パラメーター */
 
-unsigned long lapDistance  = 28500; //ロータリーエンコーダーのカウント数/周
+unsigned long lapDistance  = 28550; //ロータリーエンコーダーのカウント数/周
 unsigned long turnDistance = 4650;  //カーブ中でのカウント数
 
 struct target_t targetA = {{lapDistance/2,    lapDistance*0.6 }, 900, { 29,  0}};
 struct target_t targetB = {{lapDistance/2,    lapDistance*0.75}, 900, {-32,  0}};
 struct target_t targetC = {{lapDistance*0.6,  lapDistance*0.85}, 900, { 34,  0}};
 struct target_t targetD = {{lapDistance*0.75, lapDistance*0.85}, 900, {-42,  0}};
-struct target_t targetE = {{1500,             2400   }, 800, { 40, 48}};
-struct target_t targetF = {{lapDistance/8,    lapDistance/4   }, 800, { 61, 60}};
+struct target_t targetE = {{ 500,4000}, 750, { 48, 53}};
+struct target_t targetF = {{4000,7000}, 750, { 60, 67}};
 
 int laps = 3;  //最大周回数
 bool silent = false;  //サイレントモード(true:ブザーを鳴らさない)
@@ -58,12 +58,12 @@ int errorCountThreshold = 500;  //最大読み取りエラー回数(これを超
 /* ピンの設定 */
 
 // Servo : SC-1267SG
-unsigned int steeringServoCenter = 1815;  //us
+unsigned int steeringServoCenter = 1808;  //us
 unsigned int steeringServoMin = (steeringServoCenter-780); //us
 unsigned int steeringServoMax = (steeringServoCenter+780); //us
 
 // Servo : SC-0352
-unsigned int lanceServoCenter = 1550;  //us
+unsigned int lanceServoCenter = 1560;  //us
 unsigned int lanceServoMin = (lanceServoCenter-780); //us
 unsigned int lanceServoMax = (lanceServoCenter+780); //us
 
@@ -134,23 +134,23 @@ void trace(){
     return;
   case 0b01000000:
     speed = speedMax*0.3;
-    deltaSpeed = -150;
-    angle = -18;
+    deltaSpeed = -145;
+    angle = -15;
     break;
   case 0b01100000:
     speed = speedMax*0.5;
-    deltaSpeed = -100;
-    angle = -16;
+    deltaSpeed = -115;
+    angle = -13;
     break;
   case 0b00100000:
-    speed = speedMax*0.6;
-    deltaSpeed = -50;
-    angle = -14;
+    speed = speedMax*0.7;
+    deltaSpeed = -95;
+    angle = -11;
     break;
   case 0b00110000:
-    speed = speedMax;
-    deltaSpeed = -25;
-    angle = -10;
+    speed = speedMax*0.9;
+    deltaSpeed = -75;
+    angle = -9;
     break;
   case 0b00010000:
     speed = speedMax;
@@ -212,8 +212,6 @@ void setup(){
   //ブザー
   startBeep();
   /* 3秒停止 */
-  motorL.mode(STOP);
-  motorR.mode(STOP);
   delay(3000);
   /* スタート */
   mode = MODE_STRAIGHT;
@@ -234,12 +232,13 @@ void run(){
   default:
   case MODE_STOP:      //停止
     MsTimer2::stop();
+    lanceServo.detach();
     steeringServo.detach();
     motorL.mode(STOP);
     motorR.mode(STOP);
     while(1){
       ;
-    };
+    }
     break;
   case MODE_STRAIGHT:  //まっすぐ進む
     trace();